Introduction of Fixed Mode States into Online Reinforcement Learning with Penalties and Rewards and its Application to Biped Robot Waist Trajectory Generation
Seiya Kuroda*, Kazuteru Miyazaki**, and Hiroaki Kobayashi***
*Panasonic Factory Solutions Co., Ltd., 1375 Kamisukiawara, Showa-cho, Nakakoma-gun, Yamanashi 409-3895, Japan
**Research Department, National Institution for Academic Degrees and University Evaluation, 1-29-1 Gakuennishimachi, Kodaira, Tokyo 187-8587, Japan
***Department of Mechanical Engineering Informatics, Meiji University, 1-1-1 Higashimita Tama-ku, Kawasaki, Kanagawa 214-8571, Japan
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